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EP0847615A1 - Procede et dispositif permettant la regulation d'un vecteur quadridimensionnel pour un systeme regule, au moyen d'un organe de regulation a valeurs discretes avec une frequence de commutation limitee - Google Patents

Procede et dispositif permettant la regulation d'un vecteur quadridimensionnel pour un systeme regule, au moyen d'un organe de regulation a valeurs discretes avec une frequence de commutation limitee

Info

Publication number
EP0847615A1
EP0847615A1 EP96934363A EP96934363A EP0847615A1 EP 0847615 A1 EP0847615 A1 EP 0847615A1 EP 96934363 A EP96934363 A EP 96934363A EP 96934363 A EP96934363 A EP 96934363A EP 0847615 A1 EP0847615 A1 EP 0847615A1
Authority
EP
European Patent Office
Prior art keywords
switching
time
actuator
state
dimensional vector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP96934363A
Other languages
German (de)
English (en)
Other versions
EP0847615B1 (fr
Inventor
Reinhard Vogel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of EP0847615A1 publication Critical patent/EP0847615A1/fr
Application granted granted Critical
Publication of EP0847615B1 publication Critical patent/EP0847615B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M5/00—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases
    • H02M5/40—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC
    • H02M5/42—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters
    • H02M5/44—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC
    • H02M5/443—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC using devices of a thyratron or thyristor type requiring extinguishing means
    • H02M5/45—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop

Definitions

  • the invention relates to a method for regulating a four-dimensional vector of a route by means of a discrete-value actuator with a limited switching frequency and a device for carrying out this method.
  • Asynchronous machines which are fed by pulse-controlled inverters with a current intermediate circuit, are of particular interest for high-speed drives of high output (> 1 MW).
  • Such converters consist of a pulsed GTO inverter, while a grid-controlled thyristor converter is used on the grid side.
  • valves that can be switched off also on the network side enables the construction of a stationary and dynamically high-quality power actuator, which has only a minor effect on the network side.
  • GTO thyristors are currently available as controllable valves in the performance range mentioned.
  • the possible pulse frequency is therefore limited to a few 100 Hz (f p ⁇ 300 Hz).
  • an LC resonant circuit causes considerable problems in transient processes, particularly on the network side.
  • a control and regulating method with high dynamics is required for the pulsed mains converter.
  • the modulation with an optimized pulse pattern is thus a controlled method of determining the switching point in time with poor dynamic properties due to the principle, with very rapid changes in the setpoint value and disturbance variables. Since there are generally no extreme demands on the command and disturbance variable dynamics on pulsed machine converters of high power, the modulation with an optimized pulse pattern has found widespread use here.
  • the system availability can be significantly increased, for example, by quickly regulating the actuator on the network side without having to oversize the actuator significantly.
  • the LC filter is also a functional, indispensable part of an actuation concept, such as In the case of pulsed converters with a DC link, the use of such actuators as a line converter is only possible with the availability of a dynamically high-quality modulation and control method.
  • Amier has developed a highly dynamic, condition-oriented control and regulation method for DC link inverters with valves that can be switched off. This method is described, for example, in European Patent Specification 0 505 591 with the title “Method and circuit arrangement for regulating a two-dimensional vector of a route by means of a discrete-value actuator with a limited switching frequency” and in the article "A new control method for current-source inverters with self -extinction devices, combining low distortion of voltage and current with almost dynamic responses ", EPE Firenze, 1991, pages 1 to 6.
  • This control procedure provides for a complete on-line calculation of all switching operations based on a simplified, condition-based description of the system behavior.
  • Amier starts from the assumption that it is sufficient to optimally regulate a two-dimensional vector (e.g. voltage or current in the complex plane).
  • the regulation of the other relevant multidimensional state variable is only carried out indirectly via the integral of the first state variable and thus only as an average.
  • sampling or computing period is decisive for the dynamic behavior of this behavior, in simplified terms. In practice, it can be chosen to be sufficiently small in relation to the period of the resonance frequency T j > es for the application in question. With those in the
  • Dynamic behavior - high dynamics with regard to the disturbance variable control in order to effectively suppress excitations of the filter resonant circuit by network influences (network harmonics, switching operations in the network) and by the machine-side inverter (interharmonics), - high dynamics in the case of changes in the command variable, since the power setting practically takes place exclusively via the mains converter.
  • the line-side converter must therefore meet high dynamic requirements with regard to disturbance control.
  • a controlled process with off-line calculated switching times does not meet these requirements.
  • the invention is based on the object of a method and a device for regulating a four-dimensional
  • the pulse patterns calculated off-line serve to determine the desired energy values of the controlled system. These energy setpoints describe both the basic and the harmonic setpoint state of the LC filter (and thus also the controlled system) at the discrete switching times of the optimized pulse pattern for the undisturbed stationary operating case. 2.
  • the task of the state-based control is to adjust the actual switching times so that the difference between the setpoint and actual values of the filter energy is minimal at the moment of switching. 3. Since the new switching times determined are initially only the result of a purely mathematical calculation, they must be subjected to a plausibility check in order to establish the relationship to physical reality.
  • the solution to the problems according to the invention consists in combining the advantages of optimized pulse patterns calculated off-line (high steady-state quality) with the high dynamics of an on-line, multi-dimensional, state-oriented control.
  • Calculation and selection of the optimized pulse pattern The calculation of the optimized pulse pattern is carried out offline using the following criteria:
  • On-line calculation of the idealized instantaneous values For the target switching times specified by the selected pulse pattern, the associated target values for the four-dimensional vector of the route are calculated on-line. This on-line calculation is also carried out under idealized assumptions (mains voltage and intermediate circuit current free from harmonics). The calculated target values of the four-dimensional vector of the path thus describe the target energy state of the filter resonant circuit for the settled, undisturbed stationary operation under ideal conditions at discrete times.
  • the target values of the two state variables of the route determined at the target switching times of the optimized pulse pattern represent the energy target values of the filter in the form of a four-dimensional vector.
  • the aim of the state-oriented control is to select the actual switching times so that the difference between the setpoint the resonant circuit energy at the time of reading the optimized pulse pattern and the actual value at the instant of switching is minimal.
  • Energy setpoints can then be assumed to be a constant DC link voltage.
  • the basic vibration setpoint calculator with a downstream pulse pattern memory and control set being known from control circuits for pulsed converters which are operated with optimized pulse patterns.
  • this control circuit is expanded with a device for calculating a setpoint of the four-dimensional vector of the route, a device for calculating an actual switching times and a device for plausibility checking.
  • FIG. 1 shows a simplified overall circuit diagram of a PWM converter system for high-performance asynchronous machine drives
  • FIG. 2 shows a basic circuit diagram of the device for carrying out the method according to the invention
  • FIG. 3 illustrates a simplified two-phase equivalent circuit diagram of the actuator
  • FIG. 4 shows the validity limits of the calculated switching time or angle in a diagram
  • FIG. 5 shows the state variables i L and UQ in the case of a pulse pattern change without and in FIG 6 with the method according to the invention
  • FIG. 7 shows in a diagram the state variables iL and UQ in the case of interharmonic vibration excitation of the filter circuit of the section without and in
  • FIG. 8 with the method according to the invention, and FIG. 9 each shows in a diagram the transient behavior of the state variables i j ⁇ and U Q in the event of a sudden excitation of the mains voltage without and in FIG. 10 with the method according to the invention.
  • FIG. 1 shows a simplified overall circuit diagram of a PWM converter system for an asynchronous machine drive of high power, the essential components of this high-power drive being shown with a DC link.
  • Pulsed converters 2 and 4 are used both on the network side and on the machine side.
  • the following components of the drive system can be seen in this simplified representation: the three-phase mains voltage source 6,
  • FIG. 2 shows a basic circuit diagram of the device for carrying out the method according to the invention.
  • vectors are represented by a bold letter.
  • a basic oscillation setpoint calculator 24, a pulse pattern memory 26 and a control set 28 are already known from a control of a pulsed converter 2.
  • the basic oscillation voltage u ⁇ etz (l) ', the nominal values of the output voltage uL ⁇ and the output current i £ w of the actuator 2, a nominal mains conductivity factor co ⁇ * and parameters of the controlled system 6, 8 and 10 become the basic oscillation setpoint calculator 24 , namely the network-side ohmic resistance Rges' ⁇ -ie as a three-phase inductor 8 shown on the network-side inductance Lg es and the capacitance value C of the three-phase capacitor 10.
  • the setpoint operating point of the actuator 2 is ascertained from these values, this being described by the quantities setpoint level A- of the setter 2 and basic oscillation phase angle oc of the network-side setpoint actuator current i1.
  • an off-line optimized pulse pattern suitable for quasi-stationary operation is selected from the pulse pattern memory 26. Since the basic oscillation phase angle of the pulse pattern is also known with ⁇ , the next target switching state SQ and the associated switching time tQ can be determined from the pulse pattern memory 26.
  • a known control of an actuator 2 are from the desired shifting state S Q by means of the headset 28 and the associated Wegzeit ⁇ point tg An ⁇ teuer ⁇ ignale S v for da ⁇ technischdi ⁇ krete actuator 2 with limited switching frequency f p generated.
  • Additional devices 30, 32 and 34 are provided so that the method according to the invention, namely the regulation of a four-dimensional vector U Q , ⁇ L of a path 6, 8 and 10 by means of a value-discrete actuator 2 with a limited switching frequency f p , can be carried out inserted.
  • the device 30 is linked on the one hand to the pulse pattern memory 26 and, on the other hand, to the fundamental vibration setpoint calculator 24, and on the output side it is connected to the device 32, which is linked on the output side to the device 34.
  • this device 34 is connected on the input side to the outputs of the pulse pattern memory 26 and on the output side to the control set 28.
  • the device 30 is used to calculate a setpoint U QQ , iLQ of a four-dimensional vector U Q , i ⁇ of the route 6, 8 and 10. These values calculated on-line at the specific times describe the energy state of the LC filter oscillation circuit for the one ⁇ curved, undisturbed stationary operation under ideal conditions.
  • the energy state at the set switching time t Q is thus the four-dimensional setpoint vector that is sought describes the target switchover point.
  • the two state variables U Q (capacitor voltage) and iL (mains current) of the section -6, 8 and 10 form the four-dimensional vector of the section, whereby the energy content of the filter oscillating circuit can be clearly and completely described.
  • the device 30 In order to calculate the target values for the state variables U Q Q and iLO for the target switching times tQ specified by the selected pulse pattern, the device 30 is subjected to the network fundamental oscillation voltage u ⁇ etz (l) ', the already mentioned path parameters Lg es , C, Rg e s un ⁇ 3 the setpoint of the actuator output current ⁇ w supplied.
  • the setpoint value curve of the actuator input current ip is known from this actuator output current i ⁇ L and the temporal profile of the selected optimized pulse pattern.
  • This device 30 is used to calculate the energy target state of the network-side filter required at the time tg for the downstream, state-oriented control (device 32).
  • This desired energy state represents a four-dimensional desired vector, which is determined by the desired vector of the capacitor voltage U Q Q at time tg (two-dimensional) and the desired vector of the mains current can be clearly described at the time tg (two-dimensionally).
  • This four-dimensional setpoint vector U ⁇ Q and iL Q is supplied to the device 32 for calculating an actual switching time to. This facility
  • the device 32 receives the actual values of the state quantities U Q and iL / the section parameters Lg es , C and Rges' the mains voltage UL and a model state variable ip ⁇ of the actuator input current ip are supplied.
  • the task of this state controller 32 is to adapt the actual switching time ts online in such a way that the difference between the setpoint and actual value of the filter energy is minimal at this time.
  • the requirement "minimizing the difference between the target and actual value of the filter energy" represents the necessary optimization criterion for the present four-dimensional optimization problem.
  • the differential energy W ⁇ can be formulated as follows:
  • the time t j ⁇ denotes the sampling time of the state variable value values UQ & and ILA-
  • Equations (4) and (5) must therefore be converted into simple differential equations with constant gradients: u CS u CA + ⁇ t u, (6)
  • ⁇ t indicates the remaining period of time from the sampling time t A of the state variable actual values UQA and iL A to the changeover time ts and thus represents the quantity ultimately sought:
  • equation (3) By inserting equations (16) and (17) into equation (3), the desired calculation equation for ⁇ t is finally obtained by forming the first derivative d / d ⁇ t and then zeroing equation (3).
  • Equation (18) is practically always solvable and represents an easily manageable expression for the on-line calculation of the next switching time. To assess the extent to which the results calculated with this equation are correct or plausible, a plausibility check is necessary.
  • the switching instant ts to be implemented is calculated on the basis of equation (3) with values which are actually valid at different times:
  • the accuracy with which the new (on-line) determined switching time can be calculated depends on the time interval ⁇ in which the sampling time t A of the actual state variable values at the calculated switching time tg is located. It applies that the accuracy of the calculation increases, the smaller the time interval between the two times. root cause is the assumption of constant gradients of the state variables U Q and iL for the time range from t A to tg.
  • the best possible control result is achieved if the sampling of the actual values and the calculation of the switching time take place immediately before the switching operation is carried out. If the use of a constant calculation and sampling period is recommended, this means that the calculation and sampling period should be as short as possible.
  • the time available for performing the calculations can be estimated on the basis of the minimum switching times of the valves, since in principle every switching action must be recalculated if the dynamics of the method are to be retained.
  • the calculation of the switching times to be realized is not carried out in the form of an absolute time, but with reference to the sampling time valid in the calculation interval.
  • the remaining time ⁇ t tg-t A until the next switching operation is thus calculated.
  • the corresponding result is thus initially purely mathematical in nature, the amount of solution encompassing the entire range of values of - ⁇ ⁇ t ⁇ + ⁇ .
  • the mathematical calculation result therefore requires interpretation and must also be limited in its validity in order to obtain a reference to (physical) reality.
  • Arithmetically "large" calculated values for .DELTA.t appear when the current switching state of the converter is not the most suitable in order to achieve the desired energy state of the filter state variables in a short time. This can e.g. (undesirably) occur in the case of sudden changes in disturbance variables, operationally necessary for rapid pulse pattern changes, or occur in connection with (desired) pulse pattern changes.
  • the device 34 for the plausibility check is supplied with two successive switching times tQ and tQ + i from the pulse pattern memory 26.
  • the pulse switching memory 26 also supplies the device 34 with the desired switching state S Q.
  • the device 34 additionally monitors for compliance with the minimum switch-on and switch-off times.
  • a further step it is checked whether the next switching state SQ adopted from the optimized pulse pattern differs from the switching state S A already present in the sampling interval. If this is the case, the switching state SQ is transferred to the control block 28 at the time ts as the switching state vector Ss to be executed. So that this check can take place, the Switching state S A already present is transferred from the control unit 28 to the device 34.
  • the control set 28 also referred to as control electronics, generates the control signals S v for the power semiconductors of the actuator 2 from the switching state vector Ss.
  • the locking conditions of the valves are implemented (preferably by hardware).
  • the actual value of the state variable ip actually required for the state controller 32 is determined by measuring the intermediate circuit current igw, the known valve switching state S A present in the sampling interval mapping the intermediate circuit current onto the three strands of the network side de ⁇ Actuators 2 allowed.
  • the state control then works with the model signal ip M obtained in this way - this generation of the model signal ip j ⁇ is carried out by means of a simplified actuator model 36 as a function of an existing switching state S A and the measured intermediate circuit current w .
  • a device 38 is provided for the formation of the network fundamental voltage u ⁇ etzd ) ', which is supplied to the device 30 for calculating a setpoint XL QQ and iLO of the four-dimensional vector and the basic vibration setpoint calculator 24, which is connected to the network 6 on the input side connected is. Since the selection of a pulse pattern suitable for the (quasi) stationary operating point is based on the exclusive use of a fundamental vibration analysis of the system, the mains voltage measured at the sampling times t A has to be smoothed in a suitable manner, for example by a bandpass filter. The simulation results shown here (FIG. 5 to FIG. 10) show the actuator behavior when using the new modulation and control method in comparison to a conventional control with optimized pulse patterns.
  • FIGS. 5 and 6 show the dynamic reference variable behavior when the pulse pattern changes. With the aid of the state-oriented control, it is possible to change the pulse pattern at any desired time. A significantly higher dynamic in the case of changes in the command variable can thus be achieved than when only using a controller with optimized pulse patterns.
  • FIGS. 5 and 6 show the transition from a 6-fold to a 5-fold cycle. The new stationary operating point is already without any noteworthy after about half a network period
  • FIGS. 7 and 8 show the simulation results for such a case.
  • Mains current i L and capacitor voltage UQ in the case of modulation of the actuator 2 with optimized pulse patterns (FIG. 7) and in the case of modulation with superimposed state-oriented control (FIG. 8) are compared.
  • the ripple of the intermediate circuit current originating from the motor-side inverter is simulated by a sinusoidal disturbance variable with the frequency f Z w.
  • Mains converter takes place with 6-fold clocking with a degree of control of A ⁇ 0.72.
  • the state-oriented control (FIG. 8) enables the filter oscillation circuit to be effectively vaporized, although a deviation of the control reserve is necessary for a complete correction of disturbance variables.
  • the reason for incomplete regulation of disturbance variables can e.g. Minimum time problems at the modulation limit of the respective pulse pattern.
  • An effective active damping of the filter resonant circuit is achieved in any case.
  • FIGS. 9 and 10 show the transient behavior in the event of network faults. Influences on the actuator 2 by disturbances in the feed network can occur in practice in a variety of forms. In addition to - practically always present - harmonics in the mains voltage These are, for example, short interruptions, single-phase or multi-phase short circuits and network switching.
  • the sudden change in the mains voltage and the network should be considered, such as can occur, for example, when switching over to power plants (own demand) networks.
  • FIGS. 9 and 10 show such a simulated operating case, with a mains voltage change of + 20% and a jump in the mains angle of + 28 ° el. Being assumed. Purely controlled by an optimized pulse pattern (FIG. 9), after such a fault, sensible operation of the actuator 2 is no longer guaranteed. To avoid protective shutdowns, the converter would also have to be significantly oversized. On the other hand, such a - and other - network faults can be controlled with a state-oriented control method (FIG. 10). The correction of such large signal interference takes place in two steps. In the first step, the new switching state is predetermined in a controlled manner, the switching state change taking into account the minimum switching time taking place as quickly as possible. The actual state-oriented control intervenes only in the second step, the best possible active damping of the resonant circuit taking place through the online calculation of the switching times.
  • FIGS. 9 and 10 show such a simulated operating case, with a mains voltage change of + 20% and a jump in the mains angle of +
  • Harmonics in the mains voltage u ⁇ etz correspond to small signal disturbances and can also be easily controlled with the state-oriented control. In principle, the control behavior is the same as in the suppression of interharmonic excitations of the filter oscillation circuit.
  • the presented modulation and control method according to the invention combines the advantages of off-line optimized pulse patterns (high steady quality) with the high dynamics of a state-oriented control.
  • the simulation results prove that simple control with optimized pulse patterns.
  • the condition-based control ensures effective damping of the filter resonant circuit, although an adequate control reserve is required for the complete design of disturbance variables.
  • the method according to the invention is not only to be used specifically for use with a pulsed mains converter in high-performance converter drives with current intermediate circuits, it is also recommended for the machine-side inverter.
  • the basic ideas of the control method presented can also be applied to pulse inverters with voltage intermediate circuits and network or machine-side filters. In the online calculation of the energy setpoints, a constant intermediate circuit voltage can then be assumed.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)

Abstract

L'invention concerne un procédé permettant de réguler un vecteur quadridimensionnel, système régulé (6, 8, 10), au moyen d'un organe de régulation à valeur discrète (2) avec une fréquence de commutation limitée. Selon l'invention, des valeurs de consigne (uC0, iL0) du vecteur quadridimensionnel (uC, iL) du système régulé (6, 8, 10) sont calculées, au moment de commutation choisi (t0), en fonction d'un état de commutation de référence selectionné (S0) avec son moment de commutation associé (t0), ces valeurs de consignes (uC0), (iL0) étant utilisées pour le calcul du temps ( DELTA t) restant avant la prochaine opération de commutation, ce qui permet une minimisation de la différence d'énergie (W DELTA ) et la détermination, par un contrôle de plausibilité, du moment de commutation réel (tS) et de l'état de commutation requis (SS). On a ainsi un procédé de modulation et de régulation pour des dispositifs d'entraînement de haute puissance, lequel combine la qualité permanente élevée de modèles d'impulsions optimisés avec la dynamique élevée d'une régulation en ligne, orientée état et multidimensionnelle.
EP96934363A 1995-08-31 1996-08-20 Procede et dispositif permettant la regulation d'un vecteur quadridimensionnel pour un systeme regule, au moyen d'un organe de regulation a valeurs discretes avec une frequence de commutation limitee Expired - Lifetime EP0847615B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19532142A DE19532142A1 (de) 1995-08-31 1995-08-31 Verfahren und Vorrichtung zur Regelung eines vierdimensionalen Vektors einer Strecke mittels eines wertediskreten Stellgliedes mit begrenzter Schaltfrequenz
DE19532142 1995-08-31
PCT/DE1996/001546 WO1997008814A1 (fr) 1995-08-31 1996-08-20 Procede et dispositif permettant la regulation d'un vecteur quadridimensionnel pour un systeme regule, au moyen d'un organe de regulation a valeurs discretes avec une frequence de commutation limitee

Publications (2)

Publication Number Publication Date
EP0847615A1 true EP0847615A1 (fr) 1998-06-17
EP0847615B1 EP0847615B1 (fr) 1999-03-03

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US (1) US5847943A (fr)
EP (1) EP0847615B1 (fr)
DE (2) DE19532142A1 (fr)
WO (1) WO1997008814A1 (fr)

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Also Published As

Publication number Publication date
DE59601396D1 (de) 1999-04-08
US5847943A (en) 1998-12-08
EP0847615B1 (fr) 1999-03-03
DE19532142A1 (de) 1997-03-06
WO1997008814A1 (fr) 1997-03-06

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